Control apparatus for motor

Abstract

A control apparatus for a motor includes an electronic control unit. The electronic control unit includes a first controller, a second controller, a third controller, and a fourth controller. The first controller is configured to, through execution of feedback control, compute a feedback control torque to be generated by the motor. The second controller is configured to compute a disturbance torque based on the feedback control torque and a predetermined angle. The third controller is configured to correct the feedback control torque by using the disturbance torque. The fourth controller is configured to compensate a transfer lag to the second controller between the feedback control torque and the predetermined angle.

What is claimed is: 
     
       1. A control apparatus for a motor used to turn a steered wheel of a vehicle, the control apparatus comprising an electronic control unit, wherein:
 the electronic control unit includes a first controller, a second controller, a third controller, and a fourth controller; 
 the first controller is configured to, through execution of feedback control, compute a feedback control torque to be generated by the motor, the feedback control is control to cause an angle convertible to a wheel steering angle of the steered wheel to follow a target angle; 
 the second controller is configured to compute a disturbance torque based on a predetermined angle and the feedback control torque computed by the first controller, the predetermined angle is the angle convertible to the wheel steering angle and detected through a rotational angle sensor provided in the motor, the disturbance torque is a torque that affects the angle convertible to the wheel steering angle, other than a torque to be generated by the motor; 
 the third controller is configured to correct the feedback control torque computed by the first controller by using the disturbance torque computed by the second controller; 
 the fourth controller is configured to compensate a transfer lag to the second controller between the predetermined angle and the feedback control torque computed by the first controller; 
 the fourth controller is configured to delay the feedback control torque computed by the first controller, by a delay of the predetermined angle relative to the feedback control torque computed by the first controller, and 
 the electronic control unit controls the motor to operate according to the feedback control torque. 
 
     
     
       2. The control apparatus according to  claim 1 , wherein:
 the electronic control unit further includes a fifth controller configured to compute a feedforward control torque based on a second time derivative of the target angle; and 
 the third controller is configured to subtract the disturbance torque from a value obtained by adding the feedforward control torque to the feedback control torque computed by the first controller.